From 8162b1095bf273ddd58f99d40e944dd6867e155e Mon Sep 17 00:00:00 2001
From: Martina Rivizzigno <martina@rivizzigno.it>
Date: Wed, 15 Jan 2020 10:20:24 +0100
Subject: [PATCH] send obstacle distance data in onboard mode such that they
 are received by the gcs when using mavlink router

---
 src/modules/mavlink/mavlink_main.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b04a77a13f..e8e9a1060d 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1659,6 +1659,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("LOCAL_POSITION_NED", 30.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
+		configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
 		configure_stream_local("ODOMETRY", 30.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);